is it usable for hexacopter ?

[Robby119]

i'm doing my research but using hexacopter, i'm wondering is it usable for hexacopter? if it isn't what should i change from your code? thanks

[Jaeyoung-Lim]

@Robby119 It is usable for hexacopter. As long as you are running PX4, it doesn't matter which vehicle type you are using

[Robby119]

Just using it directpy or should i change some part inside the code? Cause as far as i know, quadcopter and hexacopter have different dynamic model and it's sure will lead to difference angular acc

Pada tanggal Kam, 26 Mar 2020 05:45, JaeyoungLim notifications@github.com menulis:

@Robby119 https://github.com/Robby119 It is usable for hexacopter. As long as you are running PX4, it doesn't matter which vehicle type you are using

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/Jaeyoung-Lim/mavros_controllers/issues/122#issuecomment-604126179, or unsubscribe https://github.com/notifications/unsubscribe-auth/ANHJTE4IVJKZDFA3ZKW7LBTRJKCP5ANCNFSM4LTXXMVA .

[Jaeyoung-Lim]

@Robby119 We are not using vehicle specific dynamics in this project, but rather using setpoints such as bodyrate / velocity / position which does not matter which airframe you are using

[Robby119]

Alright, thank you so much for the responses

Pada tanggal Kam, 26 Mar 2020 06:28, JaeyoungLim notifications@github.com menulis:

@Robby119 https://github.com/Robby119 We are not using vehicle specific dynamics in this project, but rather using setpoints such as bodyrate / velocity / position which does not matter which airframe you are using

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/Jaeyoung-Lim/mavros_controllers/issues/122#issuecomment-604142441, or unsubscribe https://github.com/notifications/unsubscribe-auth/ANHJTE6BTALYLITQYKMCWSLRJKHQZANCNFSM4LTXXMVA .

[Robby119]

Hi, there's another issue that make me confuse, in this section you're clearly using Faesler differential flatness

,

`but when i look at that paper, the equation he's using is different from what you implement in this section.

It's i misunderstood or what thanks

[Jaeyoung-Lim]

@Robby119 I think that looks more or less correct, but the details might be a little different. My intention was not to implement the paper, but have a stable trajectory tracking controller.

Also, I think defining desired attitudes are not so important for the argument the paper is making. The focus of the paper is on the differential flatness including rotor drag